Drawing System with Dobot Magician Manipulator Based on Image Processing

In this paper, the robot arm Dobot Magician and the Raspberry Pi development platform were used to integrate image processing and robot-arm drawing. For this system, the Python language built into Raspberry Pi was used as the working platform, and the real-time image stream collected by the camera was used to determine the contour pixel coordinates of image objects. We then performed gray-scale processing, image binarization, and edge detection. This paper proposes an edge-point sequential arrangement method, which arranges the edge pixel coordinates of each object in an orderly manner and places them in a set. Orderly arrangement means that the pixels in the set are arranged counterclockwise to the closed curve of the object shape. This arrangement simplifies the complexity of subsequent image processing and calculation of the drawing path. The number of closed curves represents the number of strokes in the drawing of the manipulator. In order to reduce the complexity of the drawing of the manipulator, a fewer number of closed curves will be necessary. To achieve this goal, we not only propose the 8-NN (abbreviation for eight-nearest-neighbor) search, but also use to the 16-NN search and the 24-NN search methods. Drawing path points are then converted into drawing coordinates for the Dobot Magician through the Raspberry Pi platform. The structural design of the Dobot reduces the complexity of the experiment, and its attitude and positioning control can be accurately carried out through the built-in API function or the underlying communication protocol, which is more suitable for drawing applications than other fixed-point manipulators. Experimental results show that the 24-NN search method can effectively reduce the number of closed curves and the number of strokes drawn by the manipulator.

Payload and quality augmentation using steganographic optimization technique based on edge detection

Information security is one of the most significant processes that must be taken into account when confidentially transferring information. This paper introduces a steganography technique using the edge detection method. It focused on three basic and important aspects’ payload, quality and security. Well-known edge detectors were used to generate as many edge pixels as possible to hide data and achieve the highest payload. The least significant bit (LSB) algorithm has been improved by extending the bits used to embed between 2-4 bits in smooth and sharp areas. To increase security, the transaction between the two parties is based on dividing the key and the cover image into several parts and agreeing on the type of edge detection.The experiments achieved the maximum load, for instance with a fuzzy edge detector, at first, embedding in 4 bitplanes if edge pixel and in 2 bitplanes if non-edge pixel, the peak signal-to-noise ratio (PSNR) increased from 43.580to 45.790. At second, embedding in 2 bitplanes if edge pixel, and in 4 bitplanes if non-edge pixel, the PSNR decreased between 38.433-41.593. The suggested scheme achieved a high pay load to embed in the cover image and according to human perception, it preserved the nature of the original image.

A Secure Image Encryption Scheme based on Fully-Connected-Like Neural Network and Edge Pixel Reset

When digital images are transmitted and stored in the currently open network environment, they often face various risks. A secure image encryption based on Fully-Connected-Like Neural Network (FCLNN) and edge pixel reset is proposed. Firstly, using random noise to reset the image last-bit of the edge pixels to generate different keys for each encryption. Secondly, the image rows and columns are transformed by Cyclic Shift Transformation (CST), and the moving step is determined according to the chaotic sequence. Then, the image is diffused at the bit-level by using FCLNN. Finally, forward and reverse diffusions are performed on the image to generate the cipher image. In addition, the result of convolution operation between plain image and chaotic sequence is introduced to set the initial value of the chaotic system to establish the correlation between plain image and algorithm, which makes the algorithm resistant to known/chosen plaintext attack. The simulation results show that the proposed algorithm has negligible loss, and the decrypted image is visually identical to the original image. At the same time, the algorithm has a large key space, can resist common attacks such as statistical attacks, differential attacks, noise attacks, and data loss attacks, and has high security.

Detection Method of Three-Dimensional Echocardiography Based on Deep Learning

In order to improve the detection and recognition ability of 3D echocardiography, a method of 3D echocardiography detection based on depth learning is proposed. The information conduction model of three-dimensional echocardiography is constructed. The edge pixel feature matching method is used to extract the key information of echocardiography, and the information compensation method is used to repair the missing area of three-dimensional echocardiography information. The feature decomposition and information fusion of 3D ultrasonic imaging are carried out by using five stage wavelet decomposition method, and the feature reconstruction and adaptive template matching of 3D echocardiography are processed by depth learning algorithm, modeling and detecting the rationality of three-dimensional echocardiography. The simulation results show that this method has better detection performance; the accuracy of detection and recognition is high, which is more reasonable in the application of 3D echocardiography repair and detection recognition.

Implementasi Steganografi Video dengan Menggunakan Metode Egypt, Least Significant Bit (LSB) dan Least Significant Bit (LSB) Fibonacci Edge Pixel

Seiring dengan perkembangan teknologi 5G, penyebaran dengan menggunakan video semakin besar dan mudah. Penyebaran informasi baik yang tersembunyi atau tidak semakin mudah disebarluaskan dengan menggunakan internet. Steganografi adalah cara menyembunyikan informasi dalam image atau video. Steganografi berbentuk digital image, text, audio, video, 3D model, dan lain-lain. Media digital yang popularitasnya paling tinggi dalam penelitian algoritma steganografi dengan menggunakan media digital image. Tulisan ini menggunakan media digital video karna media penelitian sebelumnya menggunakan media digital image. Pada tulisan ini akan diulas dan dianalis tentang video steganografi dengan menggunakan metode Egypt, Least Significant Bit (LSB), dan Least Significant Bit (LSB) Fibonacci Edge Pixel. Analisis video steganografi ini bertujuan untuk mendeteksi video yang mengandung unsur pesan rahasia yang kemungkinan untuk pengintaian. Hasil Peak Signal-to-Noise Ratio (PSNR) yang didapat dari penelitian ini rata-rata 40.46 dB dan menghasilkan rata-rata presentase similarity 30.67 %. Rata-rata Mean Square Error (MSE) pada penelitian ini adalah sebesar 0.50657. Untuk metode yang paling optimal yang digunakan dalam video steganografi adalah dengan menggunakan Metode Egypt.

Improved Winter Wheat Spatial Distribution Extraction Using A Convolutional Neural Network and Partly Connected Conditional Random Field

Improving the accuracy of edge pixel classification is crucial for extracting the winter wheat spatial distribution from remote sensing imagery using convolutional neural networks (CNNs). In this study, we proposed an approach using a partly connected conditional random field model (PCCRF) to refine the classification results of RefineNet, named RefineNet-PCCRF. First, we used an improved RefineNet model to initially segment remote sensing images, followed by obtaining the category probability vectors for each pixel and initial pixel-by-pixel classification result. Second, using manual labels as references, we performed a statistical analysis on the results to select pixels that required optimization. Third, based on prior knowledge, we redefined the pairwise potential energy, used a linear model to connect different levels of potential energies, and used only pixel pairs associated with the selected pixels to build the PCCRF. The trained PCCRF was then used to refine the initial pixel-by-pixel classification result. We used 37 Gaofen-2 images obtained from 2018 to 2019 of a representative Chinese winter wheat region (Tai’an City, China) to create the dataset, employed SegNet and RefineNet as the standard CNNs, and a fully connected conditional random field as the refinement methods to conduct comparison experiments. The RefineNet-PCCRF’s accuracy (94.51%), precision (92.39%), recall (90.98%), and F1-Score (91.68%) were clearly superior than the methods used for comparison. The results also show that the RefineNet-PCCRF improved the accuracy of large-scale winter wheat extraction results using remote sensing imagery.

A New Edge Patch with Rotation Invariance for Object Detection and Pose Estimation

Local patch-based methods of object detection and pose estimation are promising. However, to the best of the authors’ knowledge, traditional red-green-blue and depth (RGB-D) patches contain scene interference (foreground occlusion and background clutter) and have little rotation invariance. To solve these problems, a new edge patch is proposed and experimented with in this study. The edge patch is a local sampling RGB-D patch centered at the edge pixel of the depth image. According to the normal direction of the depth edge, the edge patch is sampled along a canonical orientation, making it rotation invariant. Through a process of depth detection, scene interference is eliminated from the edge patch, which improves the robustness. The framework of the edge patch-based method is described, and the method was evaluated on three public datasets. Compared with existing methods, the proposed method achieved a higher average F1-score (0.956) on the Tejani dataset and a better average detection rate (62%) on the Occlusion dataset, even in situations of serious scene interference. These results showed that the proposed method has higher detection accuracy and stronger robustness.